公开(公告)号：KR101248978B1

公开(公告)日：2013-04-02

申请号：KR1020120005613

申请日：2012-01-18

Applicant: 서울대학교산학협력단

Inventor： 김종원 ,  최동규 ,  장도영 ,  김남수 ,  오종균 ,  이석우

IPC: B25J5/00 ,  B62D55/075

CPC classification number: B25J5/00 ,  B25J5/005 ,  B25J5/007 ,  B62D55/02 ,  B62D55/075 ,  B62D57/024

Abstract: PURPOSE: A mobile robot with a caterpillar and a driving wheel is provided to enhance energy efficiency by preventing unnecessary use of power when driving. CONSTITUTION: A mobile robot with a caterpillar and a driving wheel comprises a body unit(100), a main wheel support board(200), an auxiliary wheel support board(300), a first driving wheel(410), a driving caterpillar(430), a second driving wheel(420), a first driving motor, a caterpillar assembly motor, a caterpillar driving motor, a second driving motor, and a control unit. The caterpillar assembly motor assembles the driving caterpillar. The control unit controls operation of the first driving motor, the caterpillar assembly motor, the caterpillar driving motor, and the second driving motor.

Abstract translation: 目的：提供具有履带式和驱动轮的移动式机器人，通过在驾驶时不必要地使用电力来提高能源效率。 构成：具有履带和驱动轮的移动机器人包括主体单元（100），主轮支撑板（200），辅助轮支撑板（300），第一驱动轮（410），驾驶履带 430），第二驱动轮（420），第一驱动马达，履带总成马达，履带驱动马达，第二驱动马达和控制单元。 卡特彼勒组装电机组装驾驶履带。 控制单元控制第一驱动马达，履带式马达，履带驱动马达和第二驱动马达的运转。

公开(公告)号：KR101344871B1

公开(公告)日：2013-12-26

申请号：KR1020100101874

申请日：2010-10-19

Applicant: 서울대학교산학협력단

Inventor： 김종원 ,  장도영 ,  김남수 ,  최동규

IPC: B25J18/00 ,  B25J19/00 ,  B25J5/00

Abstract: 본발명은로봇용다리및 이를구비한로봇에관한것으로서, 상기로봇용다리는, 로봇의위치이동에사용되는다리에있어서, 상기로봇의몸체에회전운동가능하게결합되는제1부재; 상기제1부재에직선왕복운동가능하게결합되는제2부재; 상기제1부재에대하여회전가능하게결합되는크랭크축; 일단부가상기크랭크축에결합되는크랭크암; 일단부는상기크랭크암의타단부에회전가능하게결합되며, 타단부는상기제2부재에회전가능하게결합되는컨넥팅로드;를포함하여구성되는특징을갖는다. 본발명에따르면, 로봇의몸체에회전운동가능하게결합되는제1부재와상기제1부재에직선왕복운동가능하게결합되는제2부재및 상기제2부재의직선왕복운동을가능하게하는크랭크구조를구비함으로써, 상기로봇의몸체에대하여스윙운동을하면서동시에길이조절이가능하며순간적인임팩트전달이가능한로봇용다리및 이를구비한로봇을제공할수 있는효과가있다.

公开(公告)号：KR1020120040445A

公开(公告)日：2012-04-27

申请号：KR1020100101874

申请日：2010-10-19

Applicant: 서울대학교산학협력단

Inventor： 김종원 ,  장도영 ,  김남수 ,  최동규

IPC: B25J18/00 ,  B25J19/00 ,  B25J5/00

Abstract: PURPOSE: Legs for a robot and a robot having the same are provided to instantaneously transfer impact because legs are adjusted at the same time while legs are swung with respect to a robot body through first and second members and a crank structure. CONSTITUTION: Legs(100) for a robot comprises first and second members(10,20), a crankshaft(31), a crank arm(32), and a connection rod(34). The first member is joined to a body of a robot to be rotated. The second member is joined to the first member and linearly reciprocates. The crankshaft is joined to be rotated with respect to the first member. One end part of the connecting rod is joined to the other end part of the crank arm to be rotated and the other end part of the connecting rod is joined to be rotated with respect to the second member.

Abstract translation: 目的：提供用于机器人的腿部和具有该机器人的机器人以瞬时转移冲击力，因为腿部通过第一和第二构件和曲柄结构相对于机器人本体摆动而同时被调节。 构成：用于机器人的腿（100）包括第一和第二构件（10,20），曲轴（31），曲柄臂（32）和连接杆（34）。 第一个构件被连接到要旋转的机器人的主体。 第二构件连接到第一构件并且线性往复运动。 曲轴接合以相对于第一构件旋转。 连杆的一端部与曲柄臂的另一端部接合以旋转，连杆的另一端部相对于第二部件旋转。